Rigidbody Physics Engine - Log 3 - MLCP Solver

This week I worked on building a solver for the (mixed) linear complementarity problem. I used the Projected Gauss Seidel iterative method, following Catto’s famous 2005 paper.

To test it out, I’ve started with a hard-coded normal constraint against the ground plane. No friction or restitution factors yet, but it’s super exciting to see it working!